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The solar wind is a magnetized and turbulent plasma. Its turbulence is often dominated by Alfvénic fluctuations and often deemed as nearly incompressible far away from the Sun, as shown by in-situ measurements near 1AU. However, for solar wind closer to the Sun, the plasma $β$ decreases (often lower than unity) while the turbulent Mach number $M_t$ increases (can approach unity, e.g., transonic fluctuations). These conditions could produce significantly more compressible effects, characterized by enhanced density fluctuations, as seen by several space missions. In this paper, a series of 3D MHD simulations of turbulence are carried out to understand the properties of compressible turbulence, particularly the generation of density fluctuations. We find that, over a broad range of parameter space in plasma $β$, cross helicity and polytropic index, the turbulent density fluctuations scale linearly as a function of $M_t$, with the scaling coefficients showing weak dependence on parameters. Furthermore, through detailed spatio-temporal analysis, we show that the density fluctuations are dominated by low-frequency nonlinear structures, rather than compressible MHD eigen-waves. These results could be important for understanding how compressible turbulence contributes to solar wind heating near the Sun.